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WO2008010269A1 - système pour détecter la position d'un objet mobile - Google Patents

système pour détecter la position d'un objet mobile Download PDF

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Publication number
WO2008010269A1
WO2008010269A1 PCT/JP2006/314260 JP2006314260W WO2008010269A1 WO 2008010269 A1 WO2008010269 A1 WO 2008010269A1 JP 2006314260 W JP2006314260 W JP 2006314260W WO 2008010269 A1 WO2008010269 A1 WO 2008010269A1
Authority
WO
WIPO (PCT)
Prior art keywords
sound source
position detection
moving body
sensor
time
Prior art date
Application number
PCT/JP2006/314260
Other languages
English (en)
Japanese (ja)
Inventor
Hiroshi Yamanaka
Yoshifumi Watabe
Yoshiaki Honda
Tomoo Otsuka
Hiromichi Goto
Kosaku Kitada
Kazuo Sawada
Hiroshi Kawada
Original Assignee
Panasonic Electric Works Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Electric Works Co., Ltd. filed Critical Panasonic Electric Works Co., Ltd.
Priority to PCT/JP2006/314260 priority Critical patent/WO2008010269A1/fr
Priority to JP2008525750A priority patent/JPWO2008010269A1/ja
Publication of WO2008010269A1 publication Critical patent/WO2008010269A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/16—Systems for determining distance or velocity not using reflection or reradiation using difference in transit time between electrical and acoustic signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

Definitions

  • the present invention relates to a position detection system for detecting the position of a moving body that moves within a facility, and more specifically, the position of a moving body based on ultrasonic waves generated by a sound source force fixed at a fixed position of the facility.
  • the present invention relates to a system that detects the position and transmits the detected position data to an external monitoring device.
  • Japanese Patent Publication JP7-140241 discloses a conventional system for detecting the position of a moving body in a facility.
  • This system is configured to detect the position of the moving object by receiving the ultrasonic waves from the two ultrasonic transmitting sources by the moving object and determining the distance between the moving object and these two ultrasonic transmitting sources.
  • This system requires two ultrasonic sources, making it difficult to install in the facility, and it is necessary to synchronize the ultrasonic waves from each ultrasonic source, which complicates the system. is there.
  • the present invention has been made in order to solve the above-mentioned problems.
  • the array sensor is used to reduce the number of ultrasonic transmission sources and simplify the installation work in the facility. It is an object of the present invention to provide a position detection system that can accurately detect the position of a moving body at the mobile station and perform accurate flow line measurement of the moving body.
  • a position detection system for a moving body is installed at a fixed position of a facility and transmits ultrasonic waves. It is mounted on a fixed sound source equipped with a transmitting ultrasonic transmitter and a moving body that moves within the reference coordinates including the above sound source, and continuously detects the position of the moving body within the reference coordinates.
  • a position detection module that creates time-series data of the detection positions and an output module that outputs the time-series data to an external monitoring device are provided.
  • the position detection module includes an array sensor in which a plurality of receiving elements that receive ultrasonic waves of the ultrasonic transmitter force are two-dimensionally arranged, and a position detection unit.
  • This array sensor has a unique sensor coordinate determined by the direction in which the plurality of receiving elements are arranged.
  • the position detection unit detects the azimuth of the sound source in the sensor coordinates based on the time lag of the ultrasonic waves arriving at the receiving elements from the ultrasonic transmitter. A distance between one of the receiving elements and the sound source is obtained, and the position of the moving body in the sensor coordinates is determined based on the azimuth and distance.
  • the position detection module further includes a tilt sensor that detects a tilt angle of the sensor coordinates with respect to the reference coordinates in a plane parallel to a horizontal plane including the sound source, and a detected tilt angle.
  • the position of the moving body in the sensor coordinates is converted into the position in the reference coordinates, and this is determined as the detection position of the moving body in the reference plane. It was to have. For this reason, in the present invention, the position of the moving body in the facility can be accurately detected while the number of ultrasonic transmission sources is reduced by using the array sensor, and an accurate flow line measurement of the moving body is performed. Is possible.
  • the ultrasonic transmitter As the ultrasonic transmitter, a support substrate, a heating element layer formed on one surface side of the support substrate, and a support substrate and a heating element layer interposed on the one surface side of the support substrate are interposed. It is desirable to use an ultrasonic generating element that includes a heat insulating layer and generates ultrasonic waves as the temperature of the heating element layer changes with energization of the heating element layer.
  • An ultrasonic transmitter with such a configuration can generate an ultrasonic wave with a short reverberation time with a small Q value of the resonance characteristics and a short generation period, and shortens the dead zone due to the reverberant component of the ultrasonic wave. Accurate position detection.
  • the wave receiving element is composed of a capacitance type microphone that converts the sound pressure of ultrasonic waves into a change in capacitance.
  • the Q value of the resonance characteristics of the receiving element can be reduced, and the residual in the received signal that is generated when ultrasonic waves are received by the receiving element.
  • the reverberation time can be shortened, and the dead zone caused by the reverberation component in the received signal output from the receiving element can be shortened, so that accurate position detection can be performed.
  • the sound source includes a trigger signal transmitter that transmits a trigger signal, and a controller that transmits the ultrasonic wave in synchronization with the trigger signal.
  • the position detection module includes a trigger signal receiver that receives the trigger signal, and the position detection unit receives the trigger signal and one of the receiving elements receives the ultrasonic wave.
  • the distance between the sensor array and the sound source is determined from the difference from the time. For this reason, the array sensor can be used to measure the distance between the sound source and the moving object, and the position of the moving object is detected.
  • a trigger signal transmitter that transmits a trigger signal to the mobile body
  • the sound source may be provided with a controller that transmits the ultrasonic wave when the trigger signal is received. It is.
  • the position detection unit obtains the distance between the sensor array and the sound source from the difference between the time when the trigger signal is transmitted and the time when one of the receiving elements receives the ultrasonic wave. Thus, the distance between the sound source and the moving object can be measured.
  • each sound source includes an identification code transmitter for transmitting a unique identification code
  • the position detection module is provided with a sound source identification unit for receiving the identification code.
  • the sound source identification unit is configured to associate the received identification code with the time-series data described above, whereby a plurality of sound sources can be identified, and a wide range of facilities in a facility covered with a plurality of sound sources can be identified. It is possible to accurately detect the position of the moving body that moves across the area.
  • each sound source includes a controller that transmits ultrasonic waves in synchronization with the identification code.
  • the position detection module is provided with a sound source identification unit that receives the identification code, and the sound source identification unit gives the time when the identification code is received to the position detection unit.
  • the position detection unit includes the time when the identification code is received and one of the receiving elements that receives the ultrasonic wave.
  • the distance between the sensor array and the sound source is obtained from the deviation from the digit time, and the sound source identification unit is configured to associate the received identification code with the time-series data. According to this configuration, it is possible to detect the position of the moving body in a wide area, and the distance between the moving body and the sound source can be obtained using the identification code.
  • FIG. 1 is a schematic diagram showing an example of use of a position detection system for a moving body according to the present invention.
  • FIG. 2 is a schematic diagram showing the relationship between sensor coordinates of an array sensor used in the present invention and reference coordinates that specify the position of a moving object in a facility.
  • FIG. 3 is a plan view showing an arrangement method of receiving elements in the array sensor same as above.
  • FIG. 4 is a block diagram showing the configuration of a system according to an embodiment of the present invention.
  • FIG. 5 is an explanatory diagram showing a method for detecting the direction of a sound source using the above array sensor.
  • FIG. 6 (A), (B), (C), and (D) are explanatory diagrams showing a method for detecting the direction of the sound source.
  • FIG. 7 is an explanatory diagram showing the direction of the sound source from the moving body.
  • FIG. 8 is a schematic diagram illustrating a method for detecting the position of a moving object.
  • FIG. 9 is a schematic diagram illustrating a method for detecting the position of a moving object.
  • FIG. 10 is a schematic diagram illustrating a method for detecting the position of a moving object.
  • FIG. 11 is a cross-sectional view of a thermal excitation type ultrasonic generator used in the system described above.
  • FIG. 12 is a waveform diagram of ultrasonic waves generated by the thermal excitation type ultrasonic generating element.
  • FIG. 13 is a partially cutaway perspective view showing the configuration of a capacitive microphone used in the system described above.
  • FIG. 14 is a cross-sectional view of the electrostatic capacity microphone of the above.
  • the position detection system for a moving body is preferably used for detecting the position of the moving body M in a facility and measuring the flow line of the moving body.
  • the sound source 10 is fixed at a predetermined position on the ceiling, and the position measuring device 30 is mounted on the moving body M.
  • the sound source 10 includes an ultrasonic transmitter 20 and intermittently transmits ultrasonic waves having a short reverberation time.
  • the position measurement device 30 includes a position detection module 40 and an output module 90 that wirelessly transmits time-series data related to the position measured by the position measurement module to the external monitoring device 100.
  • the position detection module 40 includes an array sensor 50 that receives ultrasonic waves from the ultrasonic transmitter 20, and the array sensors 50 are equally spaced in a two-dimensional plane on a substrate 51 as shown in FIG. It is composed of six receiving elements 52 to 52 arranged in four, and four receiving elements 52 to 52
  • the direction in which 1 6 1 4 are arranged in a row is the X axis, and three receiving elements 52, 52, 52 are arranged perpendicular to this
  • the array sensor 50 is installed on the moving body M so that its x-y plane is parallel to the horizontal plane of the facility. As shown in Fig. 2, the sensor coordinates are in a plane parallel to the horizontal plane including the sound source 10 with respect to the reference coordinates that ultimately determine the position of the moving body within the facility depending on the orientation of the moving body M. Tilt at an inclination angle ( ⁇ )
  • the reference coordinates are defined by the X, Y, and Z axes shown in the figure, and share the sensor coordinates and the Z axis.
  • the center distance d of the receiving element is set to 0.5 to 5 times the wavelength of the ultrasonic wave used.
  • the sound source 10 is provided with a trigger signal generator 16 and a controller 14 that periodically transmit a trigger signal by light or radio waves, and the controller 14 outputs the above-described ultrasonic wave in synchronization with the trigger signal.
  • a trigger signal and an ultrasonic wave are transmitted every second.
  • the position detection module 40 includes a trigger receiver 46 that receives a trigger signal, recognizes the time when the trigger signal is received, and then analyzes the ultrasonic waves that reach the array sensor 50, and will be described below. As described above, the orientation of the moving body M with respect to the sound source 10 and the distance S between the sound source 10 and the moving body M are obtained, and the position of the moving body M is determined.
  • the receiving elements 52 to 52 output an electric signal corresponding to the receiving element 52 to 52, and the electric signal is converted into an AZD converter.
  • the intensity value of the converted ultrasonic wave is held in the data buffer 42 together with the time determined by the output of the trigger receiver 46 described above.
  • the position detection module 40 is provided with a position detection unit 60.
  • the position detection unit 60 reads the data in the data buffer 42, and the sound source 10 And the distance S between the sound source 10 and the moving body M are obtained.
  • the method for determining the direction will be described with reference to FIGS. In the description below, the position of the sound source 10 is displayed at the origin of the X—Y horizontal plane in the reference coordinates and the x—y horizontal plane in the sensor coordinates.
  • the azimuth of the moving body M that is, the array sensor 50 with respect to the sound source 10 is determined by the azimuth angle ( ⁇ X) in the vertical plane including the X axis of the sensor coordinates and the azimuth angle ( ⁇ y in the vertical plane including the y axis). These azimuth angles (0 ⁇ , ⁇ ⁇ ) are determined by the receiving elements 52 to 52 arranged along the X axis, and the y axis
  • the four receiving elements arranged on the X-axis are time-shifted to an electrical signal in which the ultrasonic wave from the sound source 10 is incident at 0 angle and the receiving element force is also output. Occurs.
  • This temporal shift is a function of the incident angle ⁇ X and is expressed by the following equation, where d is the center-to-center distance between the receiving elements and c is the speed of sound.
  • the three receiving elements 52, 52, and 52 are also matched to match the time of the output electrical signal.
  • the electrical signal from the wave element is delayed through the delay circuits 55, 55, 55 to receive one wave
  • the total value that the output signals from the receiving elements are not added at the same time falls below a predetermined value.
  • the azimuth ( ⁇ y) of the sound source in the vertical plane including the y axis is obtained.
  • the array sensor 50 that is, the moving object M and the sound source
  • the distance S is calculated, and the position p (xl, yl, Zl) of the moving body M in the sensor coordinates is determined based on the ⁇ ⁇ , ⁇ y and force obtained above, and the following formula, and is shown in Fig. 9.
  • the position detection module 40 detects the inclination angle (0) of the moving body M in the horizontal plane.
  • Tilt sensor 70 is provided.
  • this tilt sensor for example, a gyro sensor or a geomagnetic sensor is used, and the tilt angle ( ⁇ ) of the X axis of the sensor coordinates with respect to the X axis of the reference coordinates is set.
  • This tilt angle ( ⁇ ) is related to the time of the data buffer.
  • the position detection module 40 further includes a sensor coordinate based on the tilt angle (0). Position of the mobile p (xl, y l, Zl ), the position P of the moving body at the reference coordinates (XI, Yl, Zl) is the position correcting unit 72 that converts the provided with.
  • the orientation ( ⁇ r) of the array sensor 50 with respect to the sound source in a plane parallel to the horizontal plane including the sound source is obtained by the following equation.
  • the position P (X1, Yl, Zl) of the moving body in the reference coordinates obtained as described above is related to the time output from the timer 47 that is started by receiving the trigger signal, and the time elapses.
  • the output module 90 periodically reads the data table in the memory 80 and transmits it to the external monitoring device 100 wirelessly.
  • the monitoring device 100 is configured by a computer, processes the time-series data of the position information shown in the data table transmitted from the mobile unit M, displays the flow line result of the mobile unit on the monitor, Configured to issue a report.
  • the output module 90 includes, for example, a serial transfer interface such as TIAZEIA-232-E or USB, or a parallel transfer interface such as SCSI, etc., and is held in the memory 80.
  • the above time-series data is transmitted to the monitoring apparatus 100.
  • the sound source 10 is further provided with an identification code transmitter 18.
  • the identification code for identifying the sound source is transmitted by light or radio waves and a plurality of sound sources are provided to cover a wide facility, Sound source 10 is identified.
  • the position detection module 40 includes an identification code receiver 48 that receives an identification code and a sound source identification unit 49 for identifying a sound source based on the received identification code.
  • the sound source identification unit 49 adds an identification code indicating the identified sound source to the data table of the position data held in the memory 80 described above.
  • the monitoring apparatus 100 can process the positional information in association with the corresponding sound sources, and can accurately perform the flow line measurement of the moving body over a wide area. For this reason, the location information of each sound source in the facility is included in the identification code. That is, the time series data in the memory 80 is given, for example, in the data table format shown in Table 1 below, and the monitoring device 100 can process this data to obtain the movement line trajectory of the moving object.
  • the position detection module 40 discards the data in the data buffer 42 and accumulates new data.
  • the ultrasonic transmitter 20 is configured to intermittently generate an ultrasonic wave having a short reverberation time, that is, to intermittently generate an ultrasonic wave having a short generation period.
  • a thermally excited element having a structure as shown in FIG. 11 is used.
  • This element has a heating element layer 23 made of a metal thin film (for example, a tungsten thin film) through a thermal insulating layer 22 having a porous silicon layer force on the upper surface of a support substrate 21 having a single crystal p-type silicon substrate force 23. And a pair of pads 24 electrically connected to the heating element layer 23 is formed on the upper surface side of the support substrate 21.
  • an ultrasonic wave is generated in accordance with a temperature change of the heating element layer 33 accompanying energization to the heating element layer 23, and a drive voltage applied to the heating element layer 23
  • the waveform of the drive current is a sine wave waveform with a frequency of fl, for example, an ultrasonic wave having a frequency approximately twice the frequency f 1 can be generated.
  • the frequency of the generated ultrasonic wave can be changed over a wide range. If the waveform of the drive voltage or drive current is an isolated wave, it is almost 1 as shown in Fig. 12. Periodic ultrasonic waves can be generated.
  • a p-type silicon substrate is used as the supporting substrate 21, and the thermal insulating layer 22 is constituted by a porous silicon layer having a porosity of approximately 70%.
  • a porous silicon layer serving as the thermal insulating layer 22 can be formed by anodizing a part of the silicon substrate used as the support substrate 21 in an electrolyte solution composed of a mixed solution of hydrogen fluoride aqueous solution and ethanol. it can.
  • the conditions for anodizing treatment for example, current density, energization time, etc.
  • the porous silicon layer has a lower thermal conductivity and heat capacity as the porosity increases, for example, thermal conductivity is 148WZ (m'K), heat capacity is 1.63 X 10 6 j / (m 3 'K)
  • a porous silicon layer formed by anodizing a single crystal silicon substrate with a porosity of 60% has a thermal conductivity of 1 WZ (m'K) and a heat capacity of 0.7 X 10 6 j / ( m 3 'K).
  • the thermal insulating layer 22 is composed of a porous silicon layer having a porosity of approximately 70%, the thermal conductivity of the thermal insulating layer 22 is 0.12 WZ (m′K), and the heat capacity.
  • the thermal conductivity and heat capacity of the thermal insulating layer 22 are made smaller than the thermal conductivity and thermal capacity of the support substrate 21, and the product of the thermal conductivity and thermal capacity of the thermal insulation layer 22 is the thermal conductivity of the support substrate 21.
  • the temperature change of the heating element layer 23 can be efficiently transmitted to the air, and efficient heat exchange between the heating element layer 23 and air can be achieved.
  • the support substrate 21 can efficiently receive the heat from the heat insulating layer 22 and release the heat from the heat insulating layer 22, and the heat from the heating element layer 23 is accumulated in the heat insulating layer 22. Can be prevented.
  • the heating element layer 23 is formed of tungsten, which is a kind of refractory metal, and has a thermal conductivity of 174 WZ (mK) and a heat capacity of 2.5 X 10 6 jZ (m 3 'K). Yes.
  • the material of the heating element layer 23 is not limited to tungsten, and for example, tantalum, molybdenum, iridium, or the like may be employed.
  • the thickness of the support substrate 21 is 525 m
  • the thickness of the thermal insulating layer 22 is 10 ⁇ m
  • the thickness of the heating element layer 23 is 50 nm
  • the thickness of the pad 34 is 0.5 ⁇ m
  • these thicknesses are merely examples and are not particularly limited.
  • the force of adopting Si as the material of the support substrate 21 The material of the support substrate 31 is not limited to Si, and other materials such as Ge, SiC, GaP, GaAs, and InP can be made porous by anodizing treatment. Other semiconductor materials may be used.
  • a capacitive microphone is used in order to reduce reverberation in the same manner as an ultrasonic wave generating element.
  • This microphone is formed by using a micromachining technique.
  • a rectangular frame 150 having a window hole 151 penetrating in a thickness direction in a silicon substrate, And a cantilever-type pressure-receiving film 152 disposed so as to straddle two opposing sides.
  • a thermal oxide film 155, a silicon oxide film 156, and a silicon nitride film 157 are formed on the upper surface side of the frame 150.
  • the pressure receiving film 152 is a silicon film formed separately from the silicon nitride film 156.
  • One end of the frame is supported on the frame 150 via the silicon nitride film 157 on one side of the frame, and the free end is opposed to the silicon nitride film 157 on the other side of the frame.
  • a fixed electrode 153 made of a metal thin film (for example, a chromium film) is formed on the silicon nitride film 157 on the frame facing the free end of the pressure receiving film 152, and the fixed electrode 153 is formed on the free end of the pressure receiving film 152.
  • a movable electrode 154 made of a metal thin film (for example, a chromium film) is formed on the upper surface opposite to the facing surface. Silicon nitride on the bottom of the frame 150 A film 158 is formed.
  • a capacitor having the fixed electrode 153 and the movable electrode 154 as electrodes is formed, and the pressure receiving film 152 receives the pressure of the ultrasonic wave so that the fixed electrode 1 53 and The distance between the movable electrode 154 changes, and the electrostatic capacity between the fixed electrode 153 and the movable electrode 154 changes. Therefore, if a DC bias voltage is applied between pads (not shown) provided on the fixed electrode 153 and the movable electrode 154, a minute voltage change occurs between the pads in accordance with the sound pressure of the ultrasonic waves. The sound pressure of ultrasonic waves can be converted into electrical signals.
  • the structure of the capacitive microphone used as the wave receiving element 52 is not particularly limited to the above structure.
  • it is formed by processing a silicon substrate or the like using a micromachine technology or the like.
  • the gap length between the diaphragm and back plate in a state where no ultrasonic waves are received is defined between the movable electrode that receives the force of the diaphragm and the fixed electrode that consists of the back plate facing the diaphragm. It may have a structure in which a spacer portion made of an insulating film is interposed and a plurality of exhaust holes are provided through the back plate portion.
  • the diaphragm part receives ultrasonic waves and deforms to change the distance between the diaphragm part and the back plate part, so that the electrostatic capacity between the movable electrode and the fixed electrode is changed. Changes.
  • the Q value of the resonance characteristic is about 1, and the wave receiving element 52 having the electrostatic capacity type microphone force shown in FIG. 13 and FIG.
  • the Q value of the resonating characteristics is about 3 to 4, and the dead zone caused by the reverberation component in the ultrasonic wave transmitted from the sound source 10 can be shortened, and the ultrasonic wave is received by the receiving element 52.
  • the reverberation time in the received signal that occurs sometimes can be shortened, and the dead zone caused by the reverberation component in the received signal that is output from the receiving element 52 can be shortened, so the angle resolution can be improved. .
  • Capacitance-type microphones have a Q value with low resonance characteristics, so that the range of received frequencies can be widened.
  • the Q values of the resonance characteristics of the sound source 10 and the receiving element 52 are both preferably 10 or less, and more preferably 5 or less.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Ce système détecte une position d'un objet mobile se déplaçant dans des locaux, un capteur réseau monté sur l'objet mobile se déplaçant dans les locaux recevant une onde ultrasonore d'une source sonore placée à une position fixée dans les locaux. Le capteur réseau est composé d'une pluralité d'éléments de réception d'onde disposée dans une forme bidimensionnelle dans laquelle des coordonnées de capteur sont définies dans des directions de disposition des éléments de réception d'onde et une position de l'objet mobile est recherchée dans les coordonnées de capteur pour la source sonore en accord avec un temps de réponse de l'onde ultrasonore arrivant au niveau de chaque élément de réception d'onde. Dans le présent système, un moyen est adopté pour détecter une inclinaison des coordonnées de capteur dans un plan horizontal par rapport à des coordonnées standard pour spécifier des positions dans les locaux afin de convertir la position détectée de l'objet mobile dans les coordonnées de capteur en une position des coordonnées standard, de sorte que des données séquentielles temporelles des positions où l'objet mobile se déplace dans diverses directions dans les locaux peuvent être obtenues.
PCT/JP2006/314260 2006-07-19 2006-07-19 système pour détecter la position d'un objet mobile WO2008010269A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2006/314260 WO2008010269A1 (fr) 2006-07-19 2006-07-19 système pour détecter la position d'un objet mobile
JP2008525750A JPWO2008010269A1 (ja) 2006-07-19 2006-07-19 移動体の位置検出システム

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Application Number Priority Date Filing Date Title
PCT/JP2006/314260 WO2008010269A1 (fr) 2006-07-19 2006-07-19 système pour détecter la position d'un objet mobile

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CN102662159A (zh) * 2012-04-25 2012-09-12 东北大学 一种反射式室内定位的方法及系统
JP2018155639A (ja) * 2017-03-17 2018-10-04 株式会社東芝 移動体位置推定システム、装置及び方法
CN109425847A (zh) * 2017-09-01 2019-03-05 三星电子株式会社 包括多谐振器阵列的声音方向检测传感器
WO2019215957A1 (fr) * 2018-05-08 2019-11-14 株式会社デンソー Système de détection de position de véhicule et dispositif de détection de position de véhicule
KR20200133632A (ko) * 2019-05-20 2020-11-30 삼성전자주식회사 지향성 음향 센서 및 이를 이용한 음원 거리 측정방법
WO2021012970A1 (fr) * 2019-07-25 2021-01-28 Zhejiang Dahua Technology Co., Ltd. Systèmes radar et procédés les utilisant
CN113331135A (zh) * 2021-06-29 2021-09-03 西藏新好科技有限公司 一种仔猪被压死淘率和存活率的统计方法
JP2023508648A (ja) * 2019-12-10 2023-03-03 フォッカエルト ワイ． ビーヴィービーエー 場所決定システム、場所を決定する方法、及びその場所を決定するデバイス
JP2023070504A (ja) * 2021-11-09 2023-05-19 五洋建設株式会社 測位システム及び測位方法

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